基于GPU和Kinect的快速物体重建  

GPU Based Fast 3D-Object Modeling with Kinect

作　　者：刘鑫[1] 许华荣[2] 胡占义[1] 

机构地区：[1]中国科学院自动化研究所模式识别国家重点实验室,北京100190 [2]厦门理工学院计算机科学与技术系,厦门361024

出　　处：《自动化学报》2012年第8期1288-1297,共10页Acta Automatica Sinica

基　　金：国家自然科学基金(60905020);福建省科技厅重点项目(2011H0032)资助~~

摘　　要：便宜的物体快速三维建模技术是当前计算机视觉领域重要的研究课题.给出了一种基于Kinect传感器的快速物体重建方法,以及基于该方法的一种图形处理器(Graphic processing unit,GPU)原型系统实现.本文方法主要分为两步:1)系统的初始标定;2)全自动的物体重建.对于系统初始标定,提出了一种简单易用的粗标定方法;对于物体重建,提出一种全自动的快速物体重建方法.本文方法鲁棒性高,在出现点云配准错误时仍然能够稳定地得到较理想的重建模型.针对环闭合(Loop-closure)问题,提出了一种全局的点云配准方法.对几类物体的重建实验结果表明,本文方法方便实用,且能得到较好的重建效果.此外,本文还探索了有遮挡物体的重建问题.将本文方法应用于有遮挡物体的重建,也取得了较好的重建效果.The cost-effective 3D-object modeling is a topic in computer vision field that is full of significance. In this paper, we report a method for object modeling with Kinect, as well as its implementation on graphic processing unit （GPU）. Our modeling solution is divided into two steps： one is the system calibration, and the other is the fast 3D-object modeling. We present a easy-to-use calibration method for the first step, and a fully automatic modeling method for the other. Besides, our method is robust to registration of point clouds. For the well-known loop closure problem, we present a global registration method. Our method is validated by the modeling of several difficult real-world objects. In addition, the modeling of the objects with occlusion is also investigated and satisfactory results are obtained.

关 键 词：三维物体建模 图形处理器 KINECT 遮挡问题 环闭合 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术]